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<div class="title">internal.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_TRACKING_INTERNAL_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_TRACKING_INTERNAL_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/utils/safe_call.hpp&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;curand.h&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;curand_kernel.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;{</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    <span class="keyword">namespace </span>device</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    {</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;        </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;        <span class="keyword">struct </span>float8 { <span class="keywordtype">float</span>   x, y, z, w, roll, pitch, yaw, weight;   };  </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;        <span class="keyword">typedef</span> float8 StateType;       </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;        <span class="keyword">typedef</span> float4 PointType;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;        <span class="keyword">typedef</span> uchar4 PixelRGB;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        <span class="keyword">typedef</span> float4 NormalType;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;        </div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;            initParticles (PtrSz&lt;curandState&gt; rng_states,</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;            DeviceArray&lt;float&gt;&amp; initial_noise_mean, DeviceArray&lt;float&gt;&amp; initial_noise_covariance,</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;            <span class="keyword">const</span> StateType&amp; representative_state,</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;            DeviceArray&lt;StateType&gt;&amp; particles);</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;            computeTracking ( <span class="keyword">const</span> DeviceArray2D&lt;PointType&gt;&amp; ref, <span class="keyword">const</span> DeviceArray2D&lt;PixelRGB&gt;&amp; ref_color,</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;            <span class="keyword">const</span> DeviceArray2D&lt;PointType&gt;&amp; input, <span class="keyword">const</span> DeviceArray2D&lt;PixelRGB&gt;&amp; input_color,</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;            PtrSz&lt;curandState&gt; rng_states, <span class="keyword">const</span> DeviceArray&lt;float&gt;&amp; step_noise_covariance,</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;            DeviceArray&lt;StateType&gt;&amp; particles,</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;            StateType&amp; representative_state, StateType&amp; motion, <span class="keywordtype">float</span> motion_ratio );</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        <span class="comment">/*</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">        void</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">            resample (StateXYZ&amp; motion_xyz, StateRPY&amp; motion_rpy, float motion_ratio,</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">            int num_particles, PtrSz&lt;StateXYZ&gt;&amp; particles_xyz_, PtrSz&lt;StateRPY&gt;&amp; particles_rpy_, PtrSz&lt;float&gt;&amp; particles_weight_);</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">        void</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">            weight (const PtrSz&lt;PointType&gt;&amp; input, const PtrSz&lt;PixelRGB&gt;&amp; input_color, </span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">            const PtrSz&lt;PointType&gt;&amp; ref, const PtrSz&lt;PixelRGB&gt;&amp; ref_color,</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">            int num_particles, PtrSz&lt;StateXYZ&gt;&amp; particles_xyz_, PtrSz&lt;StateRPY&gt;&amp; particles_rpy_, PtrSz&lt;float&gt;&amp; particles_weight_);</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">        void</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">            update (int num_particles, PtrSz&lt;StateXYZ&gt;&amp; particles_xyz_, PtrSz&lt;StateRPY&gt;&amp; particles_rpy_, PtrSz&lt;float&gt;&amp; particles_weight_, </span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">            StateXYZ&amp; representative_state_xyz, StateRPY&amp; representative_state_rpy,</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">            StateXYZ&amp; motion_xyz, StateRPY&amp; motion_rpy);</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">            */</span>          </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    }</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_TRACKING_INTERNAL_H_</span></div>
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